Nuo Chen

Developed a high-fidelity aerodynamic and rigid-body dynamics model for high-speed spinning cards to study trajectory prediction and stability

Built an aerodynamics + rigid dynamics simulation platform in MuJoCo, integrated with MoveIt! and a Franka Emika Panda robotic arm for throwing experiments.

Explored reinforcement learning–based trajectory optimization methods to improve throwing accuracy and consistency

Completed the simulation stage; currently progressing toward sim-to-real validation, with plans to submit a related paper to IEEE Robotics and Automation Letters (RAL).

• Comparative Analysis of Centralized and Distributed Multi-UAV Task Allocation Algorithms (Published in Drones (SCI, JCR Q1), Co-First Author)
• Designed a unified Python-based simulation and evaluation platform for centralized vs. distributed task allocation methods in multi-UAV coordination
• Implemented multiple algorithms including Hungarian, Bertsekas ε-auction, CBBA, and Auction 2-opt, covering both static and dynamic task allocation as well as robust scenarios.Established evaluation metrics (e.g., completion rate, efficiency, delay, communication overhead, fairness) and conducted scalable simulation experiments
• Demonstrated that centralized algorithms excel in small-scale static settings, while distributed algorithms are more robust and scalable in large-scale and dynamic environments

Reach Truck Mast Vibration Control – Modeling & Control (MATLAB/Simulink)

Investigated mast vibration under acceleration and payload variation to improve operational safety and positioning accuracy.

Built the mast dynamics model using a lumped-mass and flexible-beam formulation; derived state-space representation for control design.

Designed a differential-flatness–based feedforward controller, and implemented feedback with Proportional and Sliding-Mode Control (SMC) to suppress residual oscillations.

Implemented a MATLAB/Simulink simulation and evaluated responses across multiple operating conditions.

Results show the feedforward + SMC strategy significantly reduces vibration amplitude and settling time versus a P-only baseline, validating its effectiveness for improving load stability in reach trucks.